CN107816952B - Method for obtaining whole three-dimensional image by layer-by-layer excavation engineering - Google Patents
Method for obtaining whole three-dimensional image by layer-by-layer excavation engineering Download PDFInfo
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- 238000009412 basement excavation Methods 0.000 title claims abstract description 106
- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 5
- 230000002194 synthesizing effect Effects 0.000 claims abstract description 4
- 239000010410 layer Substances 0.000 claims description 90
- 238000012937 correction Methods 0.000 claims description 16
- 239000002356 single layer Substances 0.000 claims description 15
- 239000003973 paint Substances 0.000 claims description 10
- 238000005507 spraying Methods 0.000 claims description 9
- 238000004140 cleaning Methods 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 6
- 239000011435 rock Substances 0.000 claims description 5
- 238000010276 construction Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 2
- 230000008676 import Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 235000019994 cava Nutrition 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 238000009432 framing Methods 0.000 description 1
- 238000010330 laser marking Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
Abstract
The invention discloses a method for acquiring an integral three-dimensional image by excavating engineering layer by layer, which comprises the following steps: 1) Obtaining a first layer excavation surface; 2) Determining a two-dimensional image acquisition range of the first layer excavation surface; 3) Marking point arrangement; 4) Measuring the geodetic coordinates of the marking points; 5) Continuously shooting the first layer excavation surface by using an unmanned aerial vehicle, and obtaining a series of two-dimensional photos of the first layer excavation surface; 6) Importing the obtained photo and the mark point coordinates into Smart3D three-dimensional image synthesis software to synthesize a first layer excavation surface three-dimensional image model; 7) Performing second layer excavation to obtain an excavation surface of the layer; 8) Determining a second layer of excavation surface two-dimensional image acquisition range; 9) Repeating the methods of the steps 3) to 6) to obtain a second layer of excavation surface three-dimensional image model, and sequentially obtaining each layer of excavation surface three-dimensional image model by using the method; 10 Synthesizing the three-dimensional image models of all layers to form a final integral three-dimensional image. The method of the invention greatly reduces the field workload of geological personnel and improves the recording precision.
Description
Technical Field
The invention relates to the technical field of geotechnical engineering, in particular to a method for acquiring an integral three-dimensional image by layer-by-layer excavation engineering.
Background
In geotechnical engineering construction, for some large-scale excavation projects (such as water conservancy and hydropower dam abutment slopes, hydropower engineering underground workshops and the like), a layer-by-layer excavation and layer-by-layer support method is generally adopted for construction. After the monolayer excavation is completed and before the anchor spraying support, geological mapping is required to be carried out on the excavated surface, and image data are collected so as to record original geological information, thereby facilitating later analysis and display.
The traditional image is generally obtained by adopting a digital camera to continuously and framing the excavated surface. The method has the defects that the result is not visual enough, the whole image of the excavated surface cannot be obtained, and further analysis and research in the later period are not facilitated.
With the development of three-dimensional digital image technology, the three-dimensional real-scene modeling technology in recent years can acquire a series of two-dimensional photos by continuously shooting a target, and a visual three-dimensional real-scene model can be obtained by utilizing certain calculation. However, the limitation of this technology is that the modeling target needs to be static, and the acquisition of the photo must be completed at the same time, and the technology cannot be applied to acquiring the three-dimensional images of the dynamic and changing target at a specific time and under a specific state. The excavation process of projects such as large side slopes, underground caves and the like often needs to last for a long time, the form and the state of the excavation surface are continuously changed, and particularly, the geological information of the surface of the excavation surface concerned by engineers cannot be integrally displayed at the same time in a real environment.
In geotechnical engineering, no effective solution exists at present for how to acquire the whole three-dimensional image of the layer-by-layer excavation engineering like a dam foundation surface and the like.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for acquiring an integral three-dimensional image by excavating engineering layer by layer aiming at the defects in the prior art.
The technical scheme adopted for solving the technical problems is as follows: a method for acquiring an overall three-dimensional image by layer excavation engineering comprises the following steps:
1) After the first layer excavation is completed, cleaning an excavation surface to obtain the first layer excavation surface;
2) Determining a two-dimensional image acquisition range of the first layer excavation surface; the image acquisition range of the first layer excavation surface is the current excavation surface range;
3) Marking point arrangement: firstly, arranging a row of mark points in the horizontal direction of the bottom area of the excavation surface in the two-dimensional image acquisition range of the first layer excavation surface, setting the bottom area of the excavation surface comprising the row of mark points as an overlapping area, and taking the row of mark points as splicing control points of the later overlapping area with the lower layer model; uniformly distributing a set number of marking points in the excavation surface to serve as correction control points of the single-layer three-dimensional model precision of the layer;
4) Respectively measuring the ground coordinates of the splicing control points and the correction control points by using a total station;
5) Continuously shooting the first layer excavation surface by using an unmanned aerial vehicle, and obtaining a series of two-dimensional photos of the first layer excavation surface;
6) The obtained photo, the coordinates of the splicing control point and the coordinates of the correction control point are imported into Smart3D three-dimensional image synthesis software to synthesize a first layer excavation surface three-dimensional image model; the reserved check point coordinates are obtained from the three-dimensional model, accuracy check is carried out on the reserved check point coordinates and the actual measurement coordinates, and whether errors exist in the three-dimensional image coordinates or whether the accuracy meets the requirements is checked;
7) After the second layer of excavation is completed, cleaning an excavation surface to obtain the excavation surface of the second layer;
8) Determining a second layer of excavation surface two-dimensional image acquisition range; the second layer excavation surface two-dimensional image acquisition range is an overlapping area of the current layer excavation surface range and the upper layer excavation surface;
9) Repeating the methods of the steps 4) to 6) to obtain a three-dimensional image model of the excavation surface of the second layer, wherein the image acquisition process of each layer is the same as that of the second layer, and sequentially obtaining the three-dimensional image model of the excavation surface of each layer by using the method;
10 And (3) synthesizing the three-dimensional image models of all layers by using the coordinates of the mark points of the overlapping area between the layers, and cutting redundant images of the overlapping area to form a final integral three-dimensional image.
According to the scheme, the splicing control points in the step 3) are arranged by adopting a paint spraying method, and the correction control points are arranged by utilizing an infrared laser indicator.
According to the scheme, the splicing control points in the overlapped area are arranged in a row on the same straight line in the horizontal direction, and the distance between the splicing control points is smaller than 5m.
According to the scheme, the correction control points are marking points which are uniformly distributed in the inner area of the excavation surface through the infrared laser indicator, the distances among the marking points are equal, and the marking points are used as precision correction control points in single-layer excavation surface modeling.
According to the scheme, in the step 5), the flying height of the unmanned aerial vehicle is positioned near the central elevation of the single-layer excavation surface, and the course is basically consistent with the trend of the excavation surface; the visual angle of the camera is kept vertical to the rock surface as much as possible, so that the visual angle difference of the adjacent pictures is not more than 15 degrees, meanwhile, the adjacent pictures need to be guaranteed to have the overlapping rate of 70%, and each picture needs to at least contain 4 to 6 paint spraying mark points or laser mark points.
According to the scheme, 2 to 3 correction control points are reserved in the step 6) and are not imported, and the correction control points and the splicing control points are imported to participate in modeling as precision check points of the single-layer three-dimensional model.
According to the above scheme, in the step 9), if the splice control point mark in the overlapping area is invisible due to construction influence, the lofting mark is performed again by using the total station and the infrared laser indicator.
The invention has the beneficial effects that:
(1) The whole three-dimensional image model of the layer-by-layer excavation project is obtained, repeated, multi-angle and traceable observation and analysis can be realized, and the defect that deep research cannot be carried out on an excavation surface after concrete coverage is overcome;
(2) The live-action image is matched with the high-precision three-dimensional coordinate point, so that a foundation is provided for subsequent research work;
(3) And a certain overlap is ensured between layers, and meanwhile, the control precision of coordinate points is utilized, so that the splicing effect of the model is ensured.
(4) The unmanned aerial vehicle is used for collecting the original image, so that the interference of the external environment is greatly reduced, and the quality of achievements is improved.
(5) The obtained integral three-dimensional image can be applied to indoor geological logging, so that the field workload of geological personnel is greatly reduced, and the logging precision is improved.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of a method of an embodiment of the present invention;
FIG. 2 is a schematic diagram of an excavation face marker arrangement in accordance with an embodiment of the present invention;
fig. 3 is a schematic diagram of an unmanned aerial vehicle acquiring a single-layer side slope two-dimensional image according to an embodiment of the invention;
FIG. 4 is a schematic view of a three-dimensional image of adjacent layers spliced by control points according to an embodiment of the present invention;
fig. 5 is a three-dimensional image of the entire side slope after synthesis according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, a method for acquiring an overall three-dimensional image by layer-by-layer excavation engineering comprises the following steps:
1) After the first layer excavation is completed, cleaning an excavation surface to obtain the first layer excavation surface;
2) Determining a two-dimensional image acquisition range of the first layer excavation surface; the image acquisition range of the first layer excavation surface is the current excavation surface range;
3) Marking point arrangement: firstly, arranging a row of mark points in the horizontal direction of the bottom area of the excavation surface by using paint in the two-dimensional image acquisition range of the first layer excavation surface, taking the bottom area of the excavation surface comprising the row of mark points as an overlapping area, and taking the row of mark points as control points of the later overlapping area with the lower layer model; uniformly arranging a set number of marking points in the excavation surface by using an infrared laser indicator to serve as single-layer three-dimensional model precision correction control points of the layer;
4) Respectively measuring the geodetic coordinates of the painting mark points and the laser mark points by using a total station;
5) Continuously shooting the first layer excavation surface by using an unmanned aerial vehicle, and obtaining a series of two-dimensional photos of the first layer excavation surface;
6) Importing the acquired photo and mark point coordinates (2-3 laser mark points are reserved and are not imported as precision check points of a single-layer three-dimensional model) into three-dimensional image synthesis software such as Smart3D and the like to synthesize a first-layer excavation surface three-dimensional image model; the reserved check point coordinates are obtained from the three-dimensional model, accuracy check is carried out on the reserved check point coordinates and the actual measurement coordinates, and whether errors exist in the three-dimensional image coordinates or whether the accuracy meets the requirements is checked;
7) After the second layer of excavation is completed, cleaning an excavation surface to obtain the excavation surface of the second layer;
8) Determining a second layer of excavation surface two-dimensional image acquisition range; the second layer excavation surface two-dimensional image acquisition range is an overlapping area of the current layer excavation surface range and the upper layer excavation surface;
9) Repeating the methods of the steps 4) to 6) to obtain a three-dimensional image model of the excavation surface of the second layer, wherein the image acquisition process of each layer is the same as that of the second layer, and sequentially obtaining the three-dimensional image model of the excavation surface of each layer by using the method;
10 And (3) synthesizing the three-dimensional image models of all layers by using the coordinates of the mark points of the overlapping area between the layers, and cutting redundant images of the overlapping area to form a final integral three-dimensional image.
One embodiment is:
the height difference of the arch shoulder groove side slope of a dam of a Jinshajiang river reaches 270m, the side slope adopts a layered excavation mode, and the single-layer excavation height is 10m. Taking the side slope as an example, the method is used for acquiring the whole three-dimensional image of the side slope building base surface.
Example implementation requires the following equipment: (1) paint spraying and an infrared laser indicator; (2) prism-free total station (such as rubbing health (GPT-3005 LN) 1 stand sleeve, measurement accuracy (+/-) (10mm+10ppm), unmanned aerial vehicle (3) high definition cradle head camera 1 stand sleeve, and Smart3D software (4).
The field image acquisition time is performed just after the excavation of the side slope is completed, so that the rock face is ensured to be clean, and the field environmental condition is optimal.
The specific implementation steps are as follows:
(1) And after the first layer of side slope is excavated, flushing the rock surface.
(2) And determining the image acquisition range as the range of the first layer excavation surface. As shown in fig. 2, (1) engineering slope, (2) image acquisition area, (3) overlapping area, and (4) mark point.
(3) The marker points are arranged. Firstly, a row of horizontal marking points are arranged at intervals of 5m at a position 50cm away from the toe of a slope by using paint, and the horizontal marking points are used as control points of an area overlapped with an underlying slope. Marking points are uniformly distributed on the slope surface outside the overlapped area, and the distance is generally 10m. The arrangement of the marking points is shown in fig. 2, (1) engineering slope, (2) image acquisition area, (3) overlapping area, and (4) marking points.
(4) And respectively measuring the geodetic coordinates of the paint spraying mark points in the overlapping area and the laser mark points outside the overlapping area by using a total station.
(5) Installing an unmanned aerial vehicle component and completing debugging, so that the flying height of the unmanned aerial vehicle is positioned near the central elevation of the single-layer excavation surface, and the course is basically consistent with the trend of the excavation surface; the view angle of the camera is kept perpendicular to the rock surface as much as possible, so that the view angle difference of the adjacent photos is not more than 15 degrees; at the same time, adjacent photos need to ensure 70% overlapping rate, and each photo contains 4-6 paint spraying or laser marking points. As shown in fig. 3, in the drawing: (5) unmanned aerial vehicle, (6) camera lens to slope distance, (7) unmanned aerial vehicle flight direction.
(6) And (3) importing a series of pictures and mark points (2-3 laser mark points are reserved and are not imported) obtained by the single-layer side slope into Smart3D software to synthesize a single-layer side slope three-dimensional image, as shown in figure 4. And checking the precision of the three-dimensional image by using the reserved mark points as check points.
(7) And repeating the steps after the second layer of slope is excavated. And (3) when the step (2) is repeated, the image acquisition range is the range of the second-layer slope surface and extends upwards by about 1m, so that a certain overlapping area is ensured between the current acquisition range and the first-layer slope surface, and the overlapping area comprises a paint spraying mark point reserved at the slope toe of the first-layer slope. And then the image acquisition process of each layer is the same as that of the second layer, and the three-dimensional image model of the excavation surface of each layer is sequentially acquired by using the method.
(8) And combining the three-dimensional image models of the side slopes of all the layers by using the three-dimensional coordinates of the overlapping region marking points, and cutting redundant images of the overlapping region between the layers, as shown in fig. 5, so as to obtain a final overall three-dimensional image model.
It will be understood that modifications and variations will be apparent to those skilled in the art from the foregoing description, and it is intended that all such modifications and variations be included within the scope of the following claims.
Claims (7)
1. The method for acquiring the whole three-dimensional image by layer excavation engineering is characterized by comprising the following steps of:
1) After the first layer excavation is completed, cleaning an excavation surface to obtain the first layer excavation surface;
2) Determining a two-dimensional image acquisition range of the first layer excavation surface; the image acquisition range of the first layer excavation surface is the current excavation surface range;
3) Marking point arrangement: firstly, arranging a row of mark points in the horizontal direction of the bottom area of the excavation surface in the two-dimensional image acquisition range of the first layer excavation surface, setting the bottom area of the excavation surface comprising the row of mark points as an overlapping area, and taking the row of mark points as splicing control points of the later overlapping area with the lower layer model; uniformly distributing a set number of marking points in the excavation surface to serve as correction control points of the single-layer three-dimensional model precision of the layer;
4) Respectively measuring the ground coordinates of the splicing control points and the correction control points by using a total station;
5) Continuously shooting the first layer excavation surface by using an unmanned aerial vehicle, and obtaining a series of two-dimensional photos of the first layer excavation surface;
6) The obtained photo, the coordinates of the splicing control point and the coordinates of the correction control point are imported into Smart3D three-dimensional image synthesis software to synthesize a first layer excavation surface three-dimensional image model; the reserved check point coordinates are obtained from the three-dimensional model, accuracy check is carried out on the reserved check point coordinates and the actual measurement coordinates, and whether errors exist in the three-dimensional image coordinates or whether the accuracy meets the requirements is checked;
7) After the second layer of excavation is completed, cleaning an excavation surface to obtain the excavation surface of the second layer;
8) Determining a second layer of excavation surface two-dimensional image acquisition range; the second layer excavation surface two-dimensional image acquisition range is an overlapping area of the current layer excavation surface range and the upper layer excavation surface;
9) Repeating the methods of the steps 4) to 6) to obtain a three-dimensional image model of the excavation surface of the second layer, wherein the image acquisition process of each layer is the same as that of the second layer, and sequentially obtaining the three-dimensional image model of the excavation surface of each layer by using the method;
10 And (3) synthesizing the three-dimensional image models of all layers by using the coordinates of the mark points of the overlapping area between the layers, and cutting redundant images of the overlapping area to form a final integral three-dimensional image.
2. The method according to claim 1, wherein the splice control points in step 3) are arranged using a paint spraying method, and the correction control points are arranged using an infrared laser pointer.
3. The method of claim 1, wherein the splice control points of the overlapping area are arranged in a row on a same straight line in a horizontal direction, and a distance between the splice control points is less than 5m.
4. The method according to claim 1, wherein the correction control points are marking points uniformly distributed in the inner area of the excavation surface by the infrared laser indicator, and the distances between the marking points are equal.
5. The method according to claim 1, wherein in the step 5), the flying height of the unmanned aerial vehicle is located near the central elevation of the single-layer excavation surface, and the course is kept substantially consistent with the excavation surface; the visual angle of the camera is kept vertical to the rock surface as much as possible, so that the visual angle difference of the adjacent pictures is not more than 15 degrees, meanwhile, the adjacent pictures need to be guaranteed to have the overlapping rate of 70%, and each picture needs to at least contain 4 to 6 paint spraying mark points or laser mark points.
6. The method according to claim 1, wherein 2 to 3 correction control points are reserved for coordinate import in the step 6), and are not imported, and the remaining correction control points and splice control points are imported to participate in modeling as precision check points of the single-layer three-dimensional model.
7. The method according to claim 1, wherein in the step 9), if the splice control point mark in the overlapping area is not visible due to the construction effect, the loft mark is re-performed by using the total station and the infrared laser indicator.
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| CN108920870B (en) * | 2018-07-24 | 2022-08-12 | 中国铁路设计集团有限公司 | BIM-based tunnel open excavation section foundation pit excavation surface design method |
| CN110108257B (en) * | 2019-05-20 | 2021-05-14 | 苏州中飞遥感技术服务有限公司 | Display method based on matching of aerial images of unmanned aerial vehicle and static planning map |
| CN112069576A (en) * | 2020-08-28 | 2020-12-11 | 浙江省围海建设集团股份有限公司 | Channel excavation construction method and system |
| CN112998693B (en) * | 2021-02-01 | 2023-06-20 | 上海联影医疗科技股份有限公司 | Head movement measuring method, device and equipment |
| CN115103121A (en) * | 2022-07-05 | 2022-09-23 | 长江三峡勘测研究院有限公司（武汉） | Slope oblique photography device, image data acquisition method and image data acquisition instrument |
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